Difference between revisions of "Motion Project Example: Single Axis With CDHD"
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The following example show how to set a single axis with CDHD properties using [[softMC Configurator]] and how to make back and forth movement with increases velocity using it. <br> | The following example show how to set a single axis with CDHD properties using [[softMC Configurator]] and how to make back and forth movement with increases velocity using it. <br> | ||
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* Example files - Programs, setups, properties and more. You can find files description down bellow (4.1) | * Example files - Programs, setups, properties and more. You can find files description down bellow (4.1) | ||
Wiring as showen: <br> | Wiring as showen: <br> | ||
| − | [[image: | + | [[image: sungleAxis CDHD.png| 300px]] |
{{Note| '''In this example, the axis setup made with rev/sec units'''}} | {{Note| '''In this example, the axis setup made with rev/sec units'''}} | ||
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In this example we will make back and forth movement with increases velocity using MC-Basic program, from ControlStudio terminal. | In this example we will make back and forth movement with increases velocity using MC-Basic program, from ControlStudio terminal. | ||
| − | For more information about how to setup | + | For more information about how to setup single axis with CDHD parameters using softMC Configurator - [[Single Axis Setup in EtherCAT/CANopen Network|look here]] <br> |
=Running The Program= | =Running The Program= | ||
Latest revision as of 16:12, 4 January 2018
| Language: | English • 中文（简体） |
|---|
The following example show how to set a single axis with CDHD properties using softMC Configurator and how to make back and forth movement with increases velocity using it.
Contents
Download Example Files
| Description | Download |
| It's recommended to download the example ZIP file, extract all the project files, open project with ControlStudio, and run the example by yourself. You will find files description table bellow (4.1). The instructions will be listed below. | 
|
System Setup
In this example we used the following system:
- softMC 7.
- single CDHD driver connected to single motors.
- Computer with ControlStudio and softMC Configurator.
- Example files - Programs, setups, properties and more. You can find files description down bellow (4.1)
Wiring as showen:
 | NOTE |
| In this example, the axis setup made with rev/sec units |
The motor parameters calculate according to the manufacture, you can find the parameters witch change in the Excel file.
{{Note|When using other drivers then CDHD, it's important to insert the motor pitch value (if there is one), as it provided from the motor manufacture, to the softMC Configurator, to get suitable Position Factor
softMC Configurator
To upload the example setups to your sofMC Configurator, open the example .mcfg file from the softMC Configurator.
After creating all project files with softMC Configurator or upload an existing project, you can run your robot from ControlStudio or from the softMC Configurator itself.
In this example we will make back and forth movement with increases velocity using MC-Basic program, from ControlStudio terminal.
For more information about how to setup single axis with CDHD parameters using softMC Configurator - look here
Running The Program
To upload the example setups to your ControlStudio, open the example .apj file from the Controlstudio.
When all relevant files upload to your controller, use the following code, from ControlStudio-terminal to run the example:
-->reset all
-->load AUTOEXEC.PRG 'wait until the program will terminate
-->load MoveAX.PRG
-->Stas MoveAX.PRG
Files table With Description
| User Files | ||
|---|---|---|
| File Name | Description | Upload to Controller |
| singleAxis_CDHD | Excel matrix that contain the information that you need to setup your robot. Notice which information you need to import from your system. |
− |
| CONFIG.PRG | MC-Basic program that define the basic data so that ControlStudio and sofMC Configurator will work. | + |
| AUTOEXEC.PRG | Execute startPRG.PRG program. | + |
| MoveAX.PRG | Back and forth movement with increases velocity program | + |
| softMC Configurator files - DO NOT MAKE ANY CHANGE | ||
|---|---|---|
| File Name | Description | Upload to Controller |
| AX_SETUP.PRG | Axes parameters setup program | + |
| CANSETUP.PRG | CANopen communication parameter setup program | + |
| EC_CDHD.LIB | EtherCat communication function and subroutine with CDHD library file | + |
| EC_USER.LIB | EtherCat communication function and subroutine library file | + |
| ETHERCAT.LIB | EtherCat communication function and subroutine library file | + |
| ECCONFIG.PRG | EtherCat configuration program | + |
| EC_SETUP.PRG | EtherCat communication setup program | + |
| RobLib.LIB | Robot function and subroutine library file | + |
| ROBOT.PRG | Robot parameter setup program | + |
| STARTPRG.PRG | Program that runs all other softMC Configurator programs | + |
| singleAxis.apj | Project file - allowed to load an existing project from ControStudio. | − |
| singleAxis.mcfg | Project file - allowed to load an existing project from softMC Configurator. | − |
| singleAxis.dat | General project files | − |
| singleAxis.asn | − | |
| singleAxis.pse | − | |